Robotic surgical instrument including instrument rotation based on translation position

ABSTRACT

A robotic surgical system includes a slide rail, a surgical instrument, and a robotic surgical assembly. The robotic surgical assembly is coupled to the slide rail and translatable along the slide rail between a first position and a second position. The robotic surgical assembly is coupled to the surgical instrument. The robotic surgical assembly, or a portion thereof, is configured to automatically rotate to a predetermined orientation relative to the slide rail when the robotic surgical assembly is disposed at the first position to enable the surgical instrument to be selectively uncoupled from the robotic surgical assembly.

BACKGROUND

Robotic surgical systems have been used in minimally invasive medicalprocedures. Some robotic surgical systems include a console supporting asurgical robotic arm and a surgical instrument having at least one endeffector (e.g., a forceps or a stapling device) mounted to the roboticarm. The robotic arm provides mechanical power to the surgicalinstrument for its operation and movement. Each robotic arm may includean instrument drive unit that is operatively connected to the surgicalinstrument. The surgical instruments may include cables that are motordriven to operate end effectors of the surgical instruments.

SUMMARY

The present disclosure relates to robotic surgical systems used toconduct minimally invasive surgical procedures. The present disclosureprovides for instrument rotation based on translation position.

In accordance with an aspect of the present disclosure, robotic surgicalsystem includes a slide rail, a surgical instrument, and a roboticsurgical assembly. The robotic surgical assembly is coupled to the sliderail and translatable along the slide rail between a first position anda second position. The robotic surgical assembly is coupled to thesurgical instrument. The robotic surgical assembly, or a portionthereof, is configured to rotate to a predetermined orientation relativeto the slide rail when the robotic surgical assembly is disposed at thefirst position to enable the surgical instrument to be selectivelyuncoupled from the robotic surgical assembly.

In some embodiments, the robotic surgical assembly may be configured torotate automatically to the predetermined orientation relative to theslide rail.

In embodiments, movement of the robotic surgical assembly to thepredetermined orientation may position the surgical instrument relativeto the slide rail such that the surgical instrument can be uncoupledfrom the robotic surgical assembly via side-unloading.

In certain embodiments, the robotic surgical assembly may include aninstrument drive unit and a sterile interface module coupled to theinstrument drive unit. The surgical instrument may be selectivelycoupled to the sterile interface module. The surgical instrument mayinclude a housing and the sterile interface module may include asemi-annular cuff. The semi-annular cuff may be positioned to receivethe housing of the surgical instrument via side-loading to couple thesurgical instrument to the sterile interface module. The semi-annularcuff may define a U-shaped opening that opens distally and laterallythrough the sterile interface module and may be configured to slidablyreceive a proximal portion of the housing of the surgical instrumenttherein to side-load the proximal portion of the housing into theU-shaped opening. The lateral opening of the U-shaped opening may beclear of the slide rail when the robotic surgical assembly is translatedto the first position and rotated (e.g., the sterile interface module)into the predetermined orientation.

In some embodiments, rotation of the robotic surgical assembly may berobotically controlled as the robotic surgical assembly translatesbetween the first position and the second position. One or more of thesterile interface module or the instrument drive unit may become freelyrotatable once the robotic surgical assembly is rotated to thepredetermined orientation.

In certain embodiments, the robotic surgical system may include acontroller configured to electrically communicate with the roboticsurgical assembly to enable the robotic surgical assembly (e.g., thesterile interface module) to rotate to the predetermined orientationwhen the robotic surgical assembly is disposed in the first position.The controller may be configured to selectively prevent the roboticsurgical assembly from translating relative to the slide rail when therobotic surgical assembly is disposed in the first position.

In embodiments, the first position may be located at a proximal endportion of the slide rail and the second position may be located at adistal end portion of the slide rail.

According to another aspect of the present disclosure, a method forremoving a surgical instrument from a robotic surgical assembly isprovided. The method includes positioning the robotic surgical assemblyat a predetermined location along a slide rail, rotating at least aportion of the robotic surgical assembly relative to the slide rail whenthe robotic surgical assembly is disposed at the predetermined location,positioning a lateral opening of the robotic surgical assembly so thatthe lateral opening is clear of the slide rail, and side-unloading thesurgical instrument from the lateral opening.

The method may include automatically rotating at least a portion of therobotic surgical assembly relative to the slide rail when the roboticsurgical assembly is disposed at the predetermined location.

Positioning the lateral opening of the robotic surgical assembly mayinclude rotating a sterile interface module of the robotic surgicalassembly. Rotating the sterile interface module may include positioningthe lateral opening at a predetermined orientation relative to the sliderail.

Side-unloading the surgical instrument from the lateral opening mayinclude sliding a housing of the surgical instrument along asemi-annular cuff of the sterile interface module.

Positioning the lateral opening at a predetermined orientation relativeto the slide rail may include facing the lateral opening away from theslide rail.

The method may further include freely rotating the sterile interfacemodule once the lateral opening is disposed in the predeterminedorientation. The method may further include preventing the sterileinterface module from axially translating along the slide rail whileenabling the sterile interface module to freely rotate.

Positioning the robotic surgical assembly at the predetermined locationalong the slide rail may include retracting the robotic surgicalassembly proximally along the slide rail to the predetermined location.Positioning the robotic surgical assembly at the predetermined locationalong the slide rail may include disposing the robotic surgical assemblyat a proximal-most location along the slide rail.

Other aspects, features, and advantages provided by some or all of theillustrative embodiments described herein will be apparent from thedescription, the drawings, and the claims that follow.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate embodiments of the presentrobotic surgical systems and, together with a general description of thedisclosure given above, and the detailed description of theembodiment(s) given below, serve to explain the principles of thedisclosure, wherein:

FIG. 1 is a schematic illustration of a robotic surgical system inaccordance with the present disclosure;

FIG. 2 is a side, elevational view, with parts separated, of a roboticsurgical assembly of the robotic surgical system of FIG. 1 andembodiments of various electromechanical surgical instruments for usewith the robotic surgical assembly;

FIG. 3 is a top view of one embodiment of the various electromechanicalsurgical instruments shown in FIG. 2;

FIG. 4 is a side, elevational view, with parts separated, of the roboticsurgical assembly of FIG. 2;

FIG. 5 is a perspective view, with parts separated, illustrating anembodiment of the various electromechanical surgical instruments of FIG.2 being side-loaded onto a sterile interface module of the roboticsurgical assembly of FIG. 2;

FIG. 6 is a front, perspective view of the robotic surgical assembly ofFIG. 2, supported on a slide rail of the robotic surgical system of FIG.1 and coupled to an embodiment of the various electromechanical surgicalinstruments of FIG. 2 while disposed in a first position along the sliderail;

FIG. 7 is a rear, perspective view of the robotic surgical assembly andelectromechanical surgical instrument of FIG. 6 while disposed in asecond position along the slide rail;

FIG. 8 is an enlarged, rear, bottom, perspective view of a portion ofFIG. 6;

FIG. 9 is a front, perspective view of the robotic surgical assembly andelectromechanical surgical instrument of FIG. 6 while disposed in athird position along the slide rail;

FIG. 10 is an enlarged, side, elevational view showing the sterileinterface module of FIG. 5 and an embodiment of the variouselectromechanical surgical instruments of FIG. 2 disposed in apredetermined orientation relative to the slide rail;

FIG. 11 is a schematic, top view illustrating rotational orientations ofthe sterile interface module relative to the slide rail while thesterile interface module is coupled to an embodiment of the variouselectromechanical surgical instruments of FIG. 2; and

FIGS. 12 and 13 are progressive, partial cross-sectional viewsillustrating an embodiment of the various electromechanical surgicalinstruments of FIG. 2 being side-unloaded from the sterile interfacemodule of FIG. 5.

DETAILED DESCRIPTION

Embodiments of the present robotic surgical systems are described indetail with reference to the drawings, in which like reference numeralsdesignate identical or corresponding elements in each of the severalviews. As used herein, the term “distal” refers to structure that iscloser to a patient, while the term “proximal” refers to structurefarther from the patient.

As used herein, the term “clinician” refers to a doctor, nurse, or othercare provider and may include support personnel. In the followingdescription, well-known functions or constructions are not described indetail to avoid obscuring the present disclosure in unnecessary detail.

Referring initially to FIG. 1, a surgical system, such as, for example,a robotic surgical system 1, generally includes one or more surgicalrobotic arms 2, 3, a controller 4, and an operating console 5 coupledwith controller 4. Any of the surgical robotic arms 2, 3 may have arobotic surgical assembly 100 and one or more electromechanical surgicalinstruments 200, 200′, 200″ (FIG. 2) selectively couplable thereto, andwhich may include surgical staplers, graspers, endoscopes, etc.Electromechanical surgical instrument 200, for example, is a surgicalstapler including an end effector 300 disposed at a distal portionthereof. In embodiments, robotic surgical assembly 100 is slidablyattached to a slide rail 40 of one or more of surgical robotic arms 2,3. In certain embodiments, robotic surgical assembly 100, or portionsthereof, may be removably attached to slide rail 40 of one or more ofsurgical robotic arms 2, 3.

Operating console 5 of robotic surgical system 1 includes a displaydevice 6, which is set up to display three-dimensional images; andmanual input devices 7, 8, by means of which a clinician (not shown), isable to telemanipulate the robotic arms 2, 3 of robotic surgical system1 in a first operating mode, as known in principle to a person skilledin the art. Each robotic arm of robotic arms 2, 3 may be composed of anynumber of members, which may be connected through any number of joints.Robotic arms 2, 3 may be driven by electric drives (not shown) that areconnected to controller 4. Controller 4 (e.g., a computer) of roboticsurgical system 1 is set up to activate the drives, for example, bymeans of a computer program, in such a way that robotic arms 2, 3, theattached robotic surgical assembly 100, and thus an attachedelectromechanical surgical instrument such as electromechanical surgicalinstrument 200 (including end effector 300) of robotic surgical system1, execute a desired movement according to a movement defined by meansof manual input devices 7, 8. Controller 4 may be set up in such a waythat it regulates movement of robotic arms 2, 3 and/or of the drives.

Robotic surgical system 1 is configured for use on a patient “P”positioned (e.g., lying) on a surgical table “ST” to be treated in aminimally invasive manner by means of a surgical instrument, e.g.,electromechanical surgical instrument 200 and, more specifically, endeffector 300 of electromechanical surgical instrument 200. Roboticsurgical system 1 may include more than two robotic arms 2, 3, theadditional robotic arms are likewise connected to controller 4 andtelemanipulatable by means of operating console 5. A surgicalinstrument, for example, electromechanical surgical instrument 200(including end effector 300 thereof), may also be attached to anyadditional robotic arm(s).

Controller 4 of robotic surgical system 1 may control one or more motors(not shown), each motor configured to drive movement of robotic arms 2,3 in any number of directions.

For a detailed discussion of the construction and operation of a similarrobotic surgical system having one or more of the same or similarcomponents for use with one or more components of the presentlydescribed robotic surgical system, reference may be made to U.S. Pat.No. 8,828,023, the entire disclosure of which is incorporated byreference herein.

Turning now to FIGS. 2 and 3, robotic surgical assembly 100 of roboticsurgical system 1 includes an instrument drive unit 110 and a connectorassembly 140. Instrument drive unit 110 supports one or more motors(e.g., a motor assembly or motor pack) 50 that may be controlled bycontroller 4. Motors 50 drive various operations of, for example, endeffector 300 of electromechanical surgical instrument 200. Motors 50 mayinclude a rotation motor, such as, for example, a canister motor. One ormore of motors 50 (or a different motor, not shown) may be configured todrive a rotation of an attached electromechanical surgical instrument,or components thereof, relative to a longitudinal axis “L-L” thereof(e.g., electromechanical surgical instrument 200 seen in FIG. 1). Motors50 can be configured to effect operation and/or movement ofelectromechanical end effector 300 of electromechanical surgicalinstrument 200, for example. Reference may be made to commonly ownedInternational Patent Application No. PCT/U.S.14/61329, U.S. Pat. No.8,636,192, or U.S. Pat. No. 8,925,786, the entire disclosures of each ofwhich are incorporated by reference herein, for a detailed discussion ofillustrative examples of the construction and operation of end effectorsfor use with, or connection to, the presently disclosedelectromechanical surgical instruments.

As seen in FIGS. 2 and 4, robotic surgical assembly 100 of roboticsurgical system 1 further includes a ring member 150 having a steriledrape 152 secured thereto. Ring member 150 of robotic surgical assembly100 is configured for attachment to instrument drive unit 110 of roboticsurgical assembly 100 to enable sterile drape 152 of robotic surgicalassembly 100 to overlie robotic surgical assembly 100 and the roboticarms 2, 3. Ring member 150 can be seated (e.g., passively) betweeninstrument drive unit 110 and sterile interface module 130. In someembodiments, ring member 150 may be configured for rotatable attachmentto a distal end of connector assembly 140 (e.g., via snap fit). Steriledrape 152 can be arranged as desired about the instrument drive unit110, robotic surgical assembly 100, and robotic arms 2, 3 to provide asterile barrier between the various aforementioned components and/or thesurgical site/fluids and electromechanical surgical instruments, such assurgical instruments 200 (e.g., stapler), 200′ (e.g., endoscope), and/or200″ (e.g., grasper).

With reference to FIGS. 2, 4, and 5, robotic surgical assembly 100 ofrobotic surgical system 1 also includes a sterile interface module 130provided for selectively interconnecting robotic surgical assembly 100and any one of electromechanical surgical instruments 200, 200′, and/or200″ of robotic surgical system 1. Such electromechanical surgicalinstruments may be selectively side-loaded and/or unloaded from roboticsurgical assembly 100 via sterile interface module 130 (see, e.g., FIGS.4 and 5).

Sterile interface module 130 of robotic surgical assembly 100 generallyincludes an upper portion 130 a, an intermediate portion 130 b, and alower portion 130 c that support one or more drive assemblies 130 d fortransferring forces through sterile interface module 130. Upper portion130 a of sterile interface module 130 selectively couples sterileinterface module 130 to instrument drive unit 110 of robotic surgicalassembly 100. Intermediate portion 130 b movably supports a decouplingcollar 130 e and a release ring 130 f that provide a manual overridefunction for manually releasing the electromechanical surgicalinstrument (e.g., unclamping the electromechanical surgical instrumentfrom tissue) so that the electromechanical surgical instrument, such aselectromechanical surgical instrument 200, may be removed from thepatient. Lower portion 130 c includes a semi-annular cuff 132 thatdefines a U-shaped opening 132 a. U-shaped opening 132 a of sterileinterface module 130 opens distally and laterally through sterileinterface module 130 for slidably receiving a housing (see e.g., housing202 of FIG. 2) of one of the electromechanical surgical instruments 200,200′, and/or 200″ of robotic surgical system 1. For a more detaileddescription of sterile interface module 130 and side-loading and/orunloading of an electromechanical surgical instrument onto/from asterile interface module, reference can be made to InternationalPublication No. WO/2017/053358, the entire disclosure of which isincorporated by reference herein.

In general, sterile interface module 130 of robotic surgical assembly100 functions to provide an interface between instrument drive unit 110of robotic surgical assembly 100 and an electromechanical surgicalinstrument, such as electromechanical surgical instrument 200, ofrobotic surgical system 1. This interface advantageously maintainssterility, provides a means to transmit electrical communication betweenrobotic surgical assembly 100 and the attached electromechanicalsurgical instrument, provides a means for transferring rotational forcefrom robotic surgical assembly 100 to the attached electromechanicalsurgical instrument for performing a function with the attachedelectromechanical surgical instrument, and/or provides a means toselectively attach/remove electromechanical surgical instruments to/fromrobotic surgical assembly 100 (e.g., for rapid instrument exchange).

With continued reference to FIG. 2, electromechanical surgicalinstrument 200 of robotic surgical system 1 includes a housing 202 at aproximal end portion thereof and an elongated shaft 204 that extendsdistally from housing 202. Elongated shaft 204 of electromechanicalsurgical instrument 200 includes a wrist assembly 206 supported on adistal end portion of elongated shaft 204 that couples end effector 300of electromechanical surgical instrument 200 to elongated shaft 204.Housing 202 of electromechanical surgical instrument 200 is configuredto selectively couple to instrument drive unit 110 of robotic surgicalassembly 100 (for example, via side-loading on a sterile interfacemodule 130 of robotic surgical assembly 100) to enable motors 50 ofinstrument drive unit 110 of robotic surgical assembly 100 to operateend effector 300 of electromechanical surgical instrument 200.

As seen in FIGS. 1 and 3, housing 202 of electromechanical surgicalinstrument 200 supports a drive assembly 203 that mechanically and/orelectrically cooperates with motors 50 of instrument drive unit 110 ofrobotic surgical assembly 100 to enable surgical instrument 200 and/orend effector 300 thereof to perform one or more functions such asarticulation, rotation, and/or firing.

Turning now to FIGS. 6-13, in use, with electromechanical surgicalinstrument 200 coupled to robotic surgical assembly 100 of roboticsurgical system 1, controller 4 of robotic surgical system 1electrically communicates with robotic surgical assembly 100 toselectively translate robotic surgical assembly 100 (and therebyelectromechanical surgical instrument 200) relative to slide rail 40between a first translation position (FIG. 6) and a second translationposition (FIG. 7), as indicated by arrows “A”. Controller 4 alsoelectrically communicates with robotic surgical assembly 100 toselectively rotate at least portions of robotic surgical assembly 100(e.g., sterile interface module 130) about longitudinal axis “L-L,” asindicated by arrows “B” (and thereby rotate electromechanical surgicalinstrument 200).

As illustrated in FIGS. 8 and 11, during operation, such rotation ofrobotic surgical assembly 100 and electromechanical surgical instrument200 of robotic surgical system 1 can cause semi-annular cuff 132 ofsterile interface module 130 of robotic surgical assembly 100 to bepositioned such that lateral opening 132 a of sterile interface module130 at least partially faces slide rail 40 and inhibits side-unloadingof electromechanical surgical instrument 200 from sterile interfacemodule 130. Such inhibited positioning of lateral opening 132a/electromechanical surgical instrument 200 is illustrated via ablocking angle “Θ”, shown in FIG. 11, which may be about 15 degrees, forexample, and defined between opposed outer side surfaces 40 a, 40 b ofslide rail 40. Blocking angle “Θ” may increase or decrease (from betweenabout 0 degrees to about 180 degrees), depending upon a width of sliderail 40, a width of lateral opening 132 a of sterile interface module130, a width of housing 202 of electromechanical surgical instrument200, etc. For instance, the greater the width of slide rail 40, thegreater the blocking angle “Θ” will be, and vice versa.

With continued reference to FIG. 11, complementary to blocking angle“Θ,” uninhibited positioning of lateral opening 132 a/electromechanicalsurgical instrument 200 is illustrated via a clearance angle “β,” shownin FIG. 11, which is the explement of blocking angle “Θ” (e.g., 345degrees) such that blocking angle “Θ” and clearance angle “β” areexplementary angles (e.g., they add up to 360 degrees). Clearance angle“β” is the explement angle through which electromechanical surgicalinstrument 200 can be freely coupled to, and/or uncoupled from, sterileinterface module 130 without interference from slide rail 40. Moreparticularly, when both of opposed outer side surfaces 200 a, 200 b ofelectromechanical surgical instrument 200 and lateral opening 132 a ofsterile interface module 130 are completely disposed within clearanceangle “β,” electromechanical surgical instrument 200 can be freelycoupled to, and/or uncoupled from, sterile interface module 130 withoutinterference from slide rail 40.

With reference to FIGS. 9 and 10, to enable side-unloading of attachedelectromechanical surgical instrument 200 from sterile interface module130 of robotic surgical assembly 100, robotic surgical assembly 100 isretracted proximally relative to slide rail 40, as indicated by arrow“C,” to a third position (e.g. a predetermined proximal position) onslide rail 40, as indicated by plane “Z.” In the third position ofrobotic surgical assembly 100, controller 4 of robotic surgical system 1causes (e.g., automatically without input from manual input devices 7,8) at least a portion of robotic surgical assembly 100 (e.g., sterileinterface module 130) to rotate about longitudinal axis “L-L” of roboticsurgical assembly 100, as indicated by arrows “D,” toward apredetermined orientation (FIG. 10). The third position of roboticsurgical assembly 100 may be a fully (and/or partially) retracted (orunretracted/advanced) position of robotic surgical assembly 100 relativeto slide rail 40. The third position of robotic surgical assembly 100may be proximal (or distal) to the first and second translationpositions of robotic surgical assembly 100 described above. In someembodiments, the third position may be a proximal-most position (and/ordistal-most position and/or some intermediate position) of roboticsurgical assembly 100 relative to slide rail 40 that acts as a hard stop(e.g., for calibration). Such retraction and rotation can be effectuatedby actuation of manual input devices 7, 8 (FIG. 1) (e.g., actuation ofbutton thereon—not shown) of robotic surgical system 1, whereby releaseof actuation of manual input devices 7, 8 can enable sterile interfacemodule 130 and electromechanical surgical instrument 200 of roboticsurgical system 1 to be freely rotatable once sterile interface module130 and electromechanical surgical instrument 200 are moved (e.g., fullyretracted and rotated) to the predetermined orientation.

In some embodiments, slide rail 40, robotic surgical assembly 100,and/or components thereof, may include one or more sensors (not shown)disposed at one or more locations therealong to determine a position ofrobotic surgical assembly 100, or portions thereof, relative to sliderail 40. Such sensors may be any suitable sensor or device such as amicroswitch, a Hall Effect switch, an encoder, a magnetic transducer,etc., or combinations thereof.

In the predetermined orientation of robotic surgical assembly 100 ofrobotic surgical system 1, at least a portion of robotic surgicalassembly 100, such as sterile interface module 130, can be freelyrotatable about longitudinal axis “L-L” of robotic surgical assembly 100(e.g., manually to change direction of instrument release via minimalfriction rotation) together with electromechanical surgical instrument200 of robotic surgical system 1. Such rotation enables a clinician toorient lateral opening 132 a of sterile interface module 130 of roboticsurgical assembly 100 and electromechanical surgical instrument 200 ofrobotic surgical system 1 relative to slide rail 40 of robotic surgicalsystem 1 as desired. For example, such rotation/orientation enablesclinician to position robotic surgical assembly 100 andelectromechanical surgical instrument 200 relative to slide rail 40 tofacilitate removal of electromechanical surgical instrument 200 ofrobotic surgical system 1 from sterile interface module 130 of roboticsurgical system 1. In the predetermined orientation of robotic surgicalassembly 100, lateral opening 132 a of sterile interface module 130 isclear of, or faces away from, slide rail 40 (FIG. 10) so thatelectromechanical surgical instrument 200 can be side-unloaded fromsterile interface 130, as indicated by arrow “E,” without interferencefrom slide rail 40 as illustrated in FIGS. 11-13 (e.g., removal orattachment of electromechanical surgical instrument 200 to/from sterileinterface module 130 is not blocked by slide rail 40). Robotic surgicalassembly 100 can be selectively axially fixed, for example, whiledisposed in the freely rotatable position.

In some embodiments, the third position may be the same and/or differentfrom the first and/or second positions.

In embodiments, controller 4 of robotic surgical system 1 can beconfigured to communicate with robotic surgical assembly 100 toselectively disengage and/or lock, for example, one or more gears,chains, belts (not shown) or other components within robotic surgicalassembly 100 and/or slide rail 40 of robotic surgical system 1 toselectively prevent robotic surgical assembly 100 from translatingaxially relative to slide rail 40 while robotic surgical assembly 100(e.g., sterile interface module 130) is disposed in the freely rotatableposition. For a more detailed description of such gears, chains, orbelts, reference can be made to International Patent Publication No.WO/2017/053358 previously incorporated above by reference.

Persons skilled in the art will understand that the structures andmethods specifically described herein and shown in the accompanyingfigures are non-limiting exemplary embodiments, and that thedescription, disclosure, and figures should be construed merely asexemplary of particular embodiments. It is to be understood, therefore,that the present disclosure is not limited to the precise embodimentsdescribed, and that various other changes and modifications may beeffected by one skilled in the art without departing from the scope orspirit of the disclosure. Additionally, the elements and features shownor described in connection with certain embodiments may be combined withthe elements and features of certain other embodiments without departingfrom the scope of the present disclosure, and that such modificationsand variations are also included within the scope of the presentdisclosure. Accordingly, the subject matter of the present disclosure isnot limited by what has been particularly shown and described.

1. A robotic surgical system, comprising: a slide rail; a surgicalinstrument; and a robotic surgical assembly coupled to the slide railand translatable along the slide rail between a first position and asecond position, the robotic surgical assembly coupled to the surgicalinstrument, at least a portion of the robotic surgical assemblyconfigured to rotate to a predetermined orientation relative to theslide rail when the robotic surgical assembly is disposed at the firstposition to enable the surgical instrument to be selectively uncoupledfrom the robotic surgical assembly.
 2. The robotic surgical system ofclaim 1, wherein movement of the robotic surgical assembly to thepredetermined orientation positions the surgical instrument relative tothe slide rail such that the surgical instrument can be uncoupled fromthe robotic surgical assembly via side-unloading.
 3. The roboticsurgical system of claim 1, wherein the robotic surgical assemblyincludes an instrument drive unit and a sterile interface module coupledto the instrument drive unit, the surgical instrument selectivelycoupled to the sterile interface module.
 4. The robotic surgical systemof claim 3, wherein the surgical instrument includes a housing and thesterile interface module includes a semi-annular cuff, the semi-annularcuff positioned to receive the housing of the surgical instrument viaside-loading to couple the surgical instrument to the sterile interfacemodule.
 5. The robotic surgical system of claim 4, wherein thesemi-annular cuff defines a U-shaped opening that opens distally andlaterally through the sterile interface module and is configured toslidably receive a proximal portion of the housing of the surgicalinstrument therein to side-load the proximal portion of the housing intothe U-shaped opening.
 6. The robotic surgical system of claim 5, whereinthe lateral opening of the U-shaped opening is clear of the slide railwhen the robotic surgical assembly is translated to the first positionand rotated into the predetermined orientation.
 7. The robotic surgicalsystem of claim 3, wherein rotation of the robotic surgical assembly isrobotically controlled as the robotic surgical assembly translatesbetween the first position and the second position, and wherein at leastone of the sterile interface module or the instrument drive unit becomesfreely rotatable once the robotic surgical assembly is rotated to thepredetermined orientation.
 8. The robotic surgical system of claim 1,further comprising a controller configured to electrically communicatewith the robotic surgical assembly to enable the robotic surgicalassembly to rotate to the predetermined orientation when the roboticsurgical assembly is disposed in the first position.
 9. The roboticsurgical system of claim 8, wherein the controller is configured toselectively prevent the robotic surgical assembly from translatingrelative to the slide rail when the robotic surgical assembly isdisposed in the first position.
 10. The robotic surgical system of claim1, wherein the first position is located at a proximal end portion ofthe slide rail and the second position is located at a distal endportion of the slide rail.
 11. The robotic surgical system of claim 1,wherein the robotic surgical assembly is configured to automaticallyrotate to the predetermined orientation relative to the slide rail whenthe robotic surgical assembly is disposed at the first position.
 12. Amethod for removing a surgical instrument from a robotic surgicalassembly, the method comprising: positioning the robotic surgicalassembly at a predetermined location along a slide rail; rotating atleast a portion of the robotic surgical assembly relative to the sliderail when the robotic surgical assembly is disposed at the predeterminedlocation; positioning a lateral opening of the robotic surgical assemblyso that the lateral opening is clear of the slide rail; andside-unloading the surgical instrument from the lateral opening.
 13. Themethod of claim 12, wherein positioning the lateral opening of therobotic surgical assembly includes rotating a sterile interface moduleof the robotic surgical assembly.
 14. The method of claim 13, whereinside-unloading the surgical instrument from the lateral opening includessliding a housing of the surgical instrument along a semi-annular cuffof the sterile interface module.
 15. The method of claim 13, whereinrotating the sterile interface module includes positioning the lateralopening at a predetermined orientation relative to the slide rail. 16.The method of claim 15, wherein positioning the lateral opening at apredetermined orientation relative to the slide rail includes facing thelateral opening away from the slide rail.
 17. The method of claim 15,further comprising freely rotating the sterile interface module once thelateral opening is disposed in the predetermined orientation.
 18. Themethod of claim 17, further comprising preventing the sterile interfacemodule from axially translating along the slide rail while enabling thesterile interface module to freely rotate.
 19. The method of claim 12,wherein positioning the robotic surgical assembly at the predeterminedlocation along the slide rail includes retracting the robotic surgicalassembly proximally along the slide rail to the predetermined location.20. The method of claim 19, wherein positioning the robotic surgicalassembly at the predetermined location along the slide rail includesdisposing the robotic surgical assembly at a proximal-most locationalong the slide rail.
 21. The method of claim 12, wherein rotating atleast a portion of the robotic surgical assembly relative to the sliderail when the robotic surgical assembly is disposed at the predeterminedlocation includes automatically rotating at least a portion of therobotic surgical assembly relative to the slide rail.